Incremental encoder is a kind of sensor which converts the mechanical geometric displacement on the output shaft into pulse or digital value by photoelectric conversion. It is composed of grating disk and photoelectric detection device. The grating disk is a circular plate with a certain diameter, and several rectangular holes are equally opened. Because the photoelectric encoder is coaxial with the motor, when the motor rotates, the grating disc and the motor rotate at the same speed. The detection device composed of light-emitting diodes…